Detailed Description

See function for more details

Definition at line 60 of file se3.h.

Public Attributes
unsigned int	ransac_minSetSize
	(Default=5) The minimum amount of points in a set to be accepted More...

unsigned int	ransac_nmaxSimulations
	(Default=50) The maximum number of iterations of the RANSAC algorithm More...

double	ransac_maxSetSizePct
	(Default=0.5) The (minimum) assumed percent (0.0 - 1.0) of the input set to be considered as inliers More...

double	ransac_threshold_lin
	(Default=0.05) The maximum distance in X,Y,Z for a solution to be considered as matching a candidate solution (In meters) More...

double	ransac_threshold_ang
	(Default=1 deg) The maximum angle (yaw,pitch,roll) for a solution to be considered as matching a candidate solution (In radians) More...

double	ransac_threshold_scale
	(Default=0.03) The maximum difference in scale for a solution to be considered as matching a candidate solution (dimensionless) More...

bool	forceScaleToUnity
	(Default=true) More...

bool	verbose
	(Default=false) More...

TFunctorCheckPotentialMatch	user_individual_compat_callback
	If provided, this user callback will be invoked to determine the individual compatibility between each potential pair of elements. More...

void *	user_individual_compat_callback_userdata
	User data to be passed to user_individual_compat_callback() More...

Constructor & Destructor Documentation

mrpt::tfest::TSE3RobustParams::TSE3RobustParams ( )

inline

Definition at line 79 of file se3.h.

bool mrpt::tfest::TSE3RobustParams::forceScaleToUnity

(Default=true)

Definition at line 68 of file se3.h.

double mrpt::tfest::TSE3RobustParams::ransac_maxSetSizePct

(Default=0.5) The (minimum) assumed percent (0.0 - 1.0) of the input set to be considered as inliers

Definition at line 64 of file se3.h.

unsigned int mrpt::tfest::TSE3RobustParams::ransac_minSetSize

(Default=5) The minimum amount of points in a set to be accepted

Definition at line 62 of file se3.h.

unsigned int mrpt::tfest::TSE3RobustParams::ransac_nmaxSimulations

(Default=50) The maximum number of iterations of the RANSAC algorithm

Definition at line 63 of file se3.h.

double mrpt::tfest::TSE3RobustParams::ransac_threshold_ang

(Default=1 deg) The maximum angle (yaw,pitch,roll) for a solution to be considered as matching a candidate solution (In radians)

Definition at line 66 of file se3.h.

double mrpt::tfest::TSE3RobustParams::ransac_threshold_lin

(Default=0.05) The maximum distance in X,Y,Z for a solution to be considered as matching a candidate solution (In meters)

Definition at line 65 of file se3.h.

double mrpt::tfest::TSE3RobustParams::ransac_threshold_scale

(Default=0.03) The maximum difference in scale for a solution to be considered as matching a candidate solution (dimensionless)

Definition at line 67 of file se3.h.

TFunctorCheckPotentialMatch mrpt::tfest::TSE3RobustParams::user_individual_compat_callback

If provided, this user callback will be invoked to determine the individual compatibility between each potential pair of elements.

Can check image descriptors, geometrical properties, etc.

Returns: Must return true if the pair is a potential match, false otherwise.

Definition at line 76 of file se3.h.

void* mrpt::tfest::TSE3RobustParams::user_individual_compat_callback_userdata

Definition at line 77 of file se3.h.

bool mrpt::tfest::TSE3RobustParams::verbose

(Default=false)

Definition at line 69 of file se3.h.